Research On Distributed Adaptive Consensus Control For Multi-manipulator System

With the development of economy and the progress of science and technology,more and more complex application systems can be described as distributed multi-agent systems.Different from the general single-unit system,the multi-agent system accomplishes group tasks by mutual cooperation among individuals,and can accomplish complex tasks and can also adapt to complex work environments.In engineering practice,the dynamic characteristics of multi-agent systems are often non-linear and more complex than linear multi-agent systems.Therefore,it is more difficult to study the coordination control of nonlinear multi-agent systems.At the same time,the complex working environment is the key factor that determines whether the multi-agent system can achieve the control goal.In particular,system communication interruptions,packet loss,delays,and unpredictable state information often exist in actual systems,making the study of the consensus control of multi-agent systems more challenging.This paper is based on the consensus control theory of multi-agent system,and fully considers the nonlinearity of multi-manipulator system dynamics and the uncertainty of model parameters.The problem of consensus control of multi-manipulator system under complex network conditions is studied.The main content of this article is as follows:Firstly,the problem of consensus control of multi-manipulator system under the condition of direct switching topology is studied.In this paper,in the case of directed switching topology,and taking into account the uncertainties of the parameters of the multi-manipulator system model,the consensus control problem of a multi-manipulator system with a leader is studied under the conditions of known and unknown relative speed information.For the situation that the system's relative velocity information cannot be obtained,a filter is designed to estimate the relative velocity information,and then a filter-based distributed adaptive control law is designed to achieve the consensus tracking of the multi-manipulator system.Finally,a simulation experiment was performed on a multi-manipulator system consisting of five two-bar linkage manipulators to verify the effectiveness of the control algorithm.Secondly,study the consensus control problem of multi-manipulator systems under the conditions of communication delay and self-delay.In this paper,a multi-manipulator system with communication delay and self-delay is considered.For the static and dynamicsituations of leaders,a distributed adaptive control algorithm is designed to achieve followers' consistent tracking of leaders.Based on the theory of passivity,the Lyapunov-Krasovskii stability theorem and the Lyapunov-Razumikhin Uniformly Boundness theorem are finally defined to prove the stability of multi-manipulator system under time delay.Finally,the effectiveness of the control algorithm is verified by numerical simulation experiments.